Abstract
This paper proposes a method to measure the surface compliance distribution of an object from a remote position. The sensing system can be applied to various purposes including modeling and virtualizing an object with haptic information for haptic broadcasting where many users can touch and feel the real object freely at the same time using their own haptic displays. Our measurement system is composed of an ultrasound phased array generating acoustic radiation pressure on the remote object surface and a laser displacement sensor. The surface compliance is evaluated by the ratio of the surface displacement to the applied force. This system enables high-speed scanning of a spot pressurization point on a surface. We set up a system to examine the feasibility of the method. The distribution of the surface compliance comparable to the human skin was successfully measured for a flat object surface in the experiments.
